The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

Research Paper #572

Title:Fusion Through Interpretation
Authors:Orr,M; Hallam,JC; Fisher,RB
Date: 1992
Presented:Accepted for 2nd European Conference on Computer Vision, May, 1992
Abstract:We investigate the use of interpretation trees to solve the correspondence problem for a mobile robot fusing data from a range image into a world model consisting of planar surface patches. Uncertainty is handled by stochastic techniques where errors are represented by normal joint probability distributions. We show that for problems of a typical size the search time is too long unless the world model can be structured into parts only one of which can be occupied by the robot at any given moment.

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